FI945859A - Method for damping the oscillation of a crane load - Google Patents

Method for damping the oscillation of a crane load Download PDF

Info

Publication number
FI945859A
FI945859A FI945859A FI945859A FI945859A FI 945859 A FI945859 A FI 945859A FI 945859 A FI945859 A FI 945859A FI 945859 A FI945859 A FI 945859A FI 945859 A FI945859 A FI 945859A
Authority
FI
Finland
Prior art keywords
acceleration
load
swing
velocity
switched
Prior art date
Application number
FI945859A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI101215B (en
FI945859A0 (en
FI101215B1 (en
Inventor
Olli Maord
Risto Ahvo
Original Assignee
Abb Industry Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Industry Oy filed Critical Abb Industry Oy
Publication of FI945859A0 publication Critical patent/FI945859A0/en
Priority to FI945859A priority Critical patent/FI101215B1/en
Priority to US08/565,950 priority patent/US5799805A/en
Priority to EP95308853A priority patent/EP0717004B1/en
Priority to DE0717004T priority patent/DE717004T1/en
Priority to DE69510898T priority patent/DE69510898T2/en
Priority to AT95308853T priority patent/ATE182320T1/en
Priority to JP07350681A priority patent/JP3118403B2/en
Publication of FI945859A publication Critical patent/FI945859A/en
Application granted granted Critical
Publication of FI101215B publication Critical patent/FI101215B/en
Publication of FI101215B1 publication Critical patent/FI101215B1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Abstract

The invention relates to a method for damping the load swing of a crane during the traversing motion of a load-carrying trolley and/or a trolley-carrying bridge. The method comprises determining substantially continuously the acceleration of the trolley/bridge and the instantaneous swing time constant, swing velocity (v) and deviation (s) from equilibrium of the pendulum formed by the load. When the velocity reference changes, the acceleration providing the desired change in velocity is determined, said acceleration being switched on immediately, and the acceleration compensating for the swing prevailing at the moment of change of the velocity reference is determined, said acceleration being switched on either immediately or, if the compensating acceleration exceeds the maximum acceleration permissible to the traversing drive when switched on immediately, when the pendulum formed by the load has reached its extreme position. <IMAGE>
FI945859A 1994-12-13 1994-12-13 Method for damping the oscillation of a crane load FI101215B1 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FI945859A FI101215B1 (en) 1994-12-13 1994-12-13 Method for damping the oscillation of a crane load
US08/565,950 US5799805A (en) 1994-12-13 1995-12-01 Method for damping the load swing of a crane
EP95308853A EP0717004B1 (en) 1994-12-13 1995-12-06 Method for damping the load swing of a crane
DE0717004T DE717004T1 (en) 1994-12-13 1995-12-06 Procedure for damping load vibrations in a crane
DE69510898T DE69510898T2 (en) 1994-12-13 1995-12-06 Procedure for damping load vibrations in a crane
AT95308853T ATE182320T1 (en) 1994-12-13 1995-12-06 METHOD FOR DAMPING LOAD VIBRATIONS IN A CRANE
JP07350681A JP3118403B2 (en) 1994-12-13 1995-12-13 How to dampen the vibration of a crane load

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI945859A FI101215B1 (en) 1994-12-13 1994-12-13 Method for damping the oscillation of a crane load
FI945859 1994-12-13

Publications (4)

Publication Number Publication Date
FI945859A0 FI945859A0 (en) 1994-12-13
FI945859A true FI945859A (en) 1996-06-14
FI101215B FI101215B (en) 1998-05-15
FI101215B1 FI101215B1 (en) 1998-05-15

Family

ID=8541967

Family Applications (1)

Application Number Title Priority Date Filing Date
FI945859A FI101215B1 (en) 1994-12-13 1994-12-13 Method for damping the oscillation of a crane load

Country Status (6)

Country Link
US (1) US5799805A (en)
EP (1) EP0717004B1 (en)
JP (1) JP3118403B2 (en)
AT (1) ATE182320T1 (en)
DE (2) DE717004T1 (en)
FI (1) FI101215B1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006052956B4 (en) * 2006-11-09 2019-07-04 Kuka Roboter Gmbh Method and apparatus for moving a free-running load from a take-off point to a destination point
JP4871968B2 (en) * 2009-02-17 2012-02-08 日立Ｇｅニュークリア・エナジー株式会社 Heavy structure installation method
DE102010007888A1 (en) 2010-02-08 2011-08-11 Wafios AG, 72764 Method and device for producing a bent part
EP2700604A1 (en) 2012-08-20 2014-02-26 ABB Oy Anti-sway control method and arrangement

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6241189A (en) * 1985-08-16 1987-02-23 株式会社日立製作所 Crane control system
FI86533C (en) * 1989-06-12 1992-09-10 Kone Oy FOERFARANDE FOER DAEMPNING AV SVAENGNINGARNA HOS EN KRANLAST.
FI91058C (en) * 1991-03-18 1996-01-10 Kci Kone Cranes Int Oy Procedure for controlling a crane
FI89155C (en) * 1991-04-11 1993-08-25 Kimmo Hytoenen STYRFOERFARANDE FOER KRAN
DE69217353T2 (en) * 1991-10-18 1997-05-28 Yaskawa Denki Kitakyushu Kk METHOD AND DEVICE FOR CONTROLLING THE PREVENTION OF A CRANE ROPE
FI91517C (en) * 1992-11-17 1994-07-11 Kimmo Hytoenen Method for controlling a harmonically oscillating load

Also Published As

Publication number Publication date
EP0717004B1 (en) 1999-07-21
FI101215B (en) 1998-05-15
DE717004T1 (en) 1996-12-12
FI945859A0 (en) 1994-12-13
US5799805A (en) 1998-09-01
JP3118403B2 (en) 2000-12-18
EP0717004A3 (en) 1996-12-04
ATE182320T1 (en) 1999-08-15
EP0717004A2 (en) 1996-06-19
DE69510898T2 (en) 2000-01-27
JPH08231182A (en) 1996-09-10
FI101215B1 (en) 1998-05-15
DE69510898D1 (en) 1999-08-26

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